Back to EveryPatent.com
United States Patent | 6,169,951 |
Ghoneim ,   et al. | January 2, 2001 |
An improved vehicle active brake control based on an estimate of vehicle yaw rate, wherein the estimate is based on the speeds of the un-driven wheels, but compensated to reflect slipping of the un-driven wheels during braking. Prior to braking, the yaw rate is estimated solely on the basis of the measured speeds of the un-driven wheels. During braking, the slip speeds of the un-driven wheels are estimated based on the measured speeds, the reference speed of the vehicle and the previous estimate of yaw rate, and used to compute a new yaw rate that is compensated for the estimated slip speeds.
Inventors: | Ghoneim; Youssef Ahmed (Macomb Township, Macomb County, MI); Chin; Yuen-Kwok (Troy, MI) |
Assignee: | General Motors Corporation (Detroit, MI); Delphi Technologies, Inc. (Troy, MI) |
Appl. No.: | 138335 |
Filed: | August 21, 1998 |
Current U.S. Class: | 701/70; 303/140; 701/82 |
Intern'l Class: | B60T 008/32 |
Field of Search: | 701/70,72,78,82,89,90,41,74 303/146,139,140 180/197 |
4834205 | May., 1989 | Mizuno et al. | 180/141. |
5063514 | Nov., 1991 | Headley et al. | 364/426. |
5172961 | Dec., 1992 | Inoue et al. | 303/100. |
5229944 | Jul., 1993 | Yasuno | 364/426. |
5275475 | Jan., 1994 | Hartmann et al. | 303/103. |
5311431 | May., 1994 | Cao et al. | 364/424. |
5333058 | Jul., 1994 | Shiraihi et al. | 701/41. |
5341297 | Aug., 1994 | Zomotor et al. | 364/426. |
5366281 | Nov., 1994 | Littlejohn | 303/188. |
5402342 | Mar., 1995 | Ehret et al. | 364/424. |
5444621 | Aug., 1995 | Matsunaga et al. | 364/424. |
5480219 | Jan., 1996 | Kost et al. | 303/146. |
5720533 | Feb., 1998 | Pastor et al. | 303/147. |
5746486 | May., 1998 | Paul et al. | 303/146. |
5839799 | Nov., 1998 | Fukada | 303/146. |
Foreign Patent Documents | |||
41 23 235 C1 | Nov., 1992 | DE. | |
41 21 954 A1 | Jan., 1993 | DE. | |
42 00 061 A1 | Jul., 1993 | DE. | |
42 23 385 A1 | Jan., 1994 | DE. | |
42 29 504 A1 | Mar., 1994 | DE. | |
43 11 077 A1 | Oct., 1994 | DE. | |
43 14 827 A1 | Nov., 1994 | DE. | |
0 555 860 A1 | Aug., 1993 | EP. | |
2 275 551 | Jan., 1993 | GB. | |
2 263 340 | Jul., 1993 | GB. | |
2 269 571 | Feb., 1994 | GB. | |
2 275 312 | Aug., 1994 | GB. | |
40 52 62213 | Oct., 1993 | JP | . |
40 60 24304 | Feb., 1994 | JP | . |
40 60 87421 | Mar., 1994 | JP | . |
40 61 15418 | Apr., 1994 | JP | . |
40 61 27354 | May., 1994 | JP | . |
May the Cornering Force be With You; Popular Mechanics; Dec. 1995; pp. 74-77. Stable as She Goes: Don Sherman, Automotive Industries, May 1995. The Spin Doctors: Don Sherman, 12PS95 (month and year are not available). Mercedes/Bosch ESP; Automotive Industries, Apr. 1995. Controlling Vehicle Stability; Christopher A. Sawyer, Automotive Industries, Jan. 1995. Let Magic Fingers Do the Driving: Wards Auto World; May 1995. Technoid: Intelligent Brakes are on the Way; Car and Driver, Aug. 1994. Toyota Vehicle Stability Control System; Automotive Engineering, Aug. 1995. Vehicle Dynamics Offers New Level of Safety: Machine Design, Sep. 1994. Handling Control Systems for Your Car: Popular Electronics; Feb. 1995. VDC, the Vehicle Dynamics Control System of Bosch: A. VanZanten, R. Erhardt and G. Pfaff; Robert Bosch GmbH; No. 950759, pp. 9-26 (month and year are not available). Active Stability Control; Junichi Kubokawa, Aisin Seiki Co., Ltd., Electronics & Brake Division; Abstract; Sep. 1995. Consideration of Lateral and Longitudinal Vehicle Stability by Function Enhanced Brake and Stability Control System; Heinz Leffler; SAE #940832; Feb. 28-Mar. 3, 1994. Control of Vehicle Dynamics: Automotive Engineering; pp. 87-93, May 1995. Improvement of Vehicle Maneuverability by Direct Yaw Moment Control; Y. Shibahata, K. Shimada and T. Tomari; Society of Automotive Engineers of Japan, Inc.; pp. 464-481 (month and year are not available). Spin Control for Cars; Steven Ashley; Mechanical Engineering; pp. 66-68; Jun. 1995. |